Introduction to

Robots and the Mind - part 1 -

Bert Wachsmuth & Michael Vigorito

Seton Hall University

Robots &

(Michael Vigorito)

(Psychology)

• Science and Catholic

thought

• Neuroscience

• Evolution & natural

selection

• Sensation and perception

• Adaptive behavior and

learning

the Mind

(Bert Wachsmuth)

(Math & CS)

• Algorithms and Program

design

• Programming in Java

• Building Robots

• Sensor feedback

• Behavior-based robots

• Robots that learn

"An intelligent robot is a machine able to

extract information from its environment

and use knowledge about its world to move

safely in a meaningful and purposeful

manner"

"A robot is a machine that gathers

information about its environment (senses)

and uses that information (thinks) to follow

instructions to do work (acts)."

What is a Robot (1/2)

What is a Robot (2/2)

A robot is a system which exists in the

physical world and autonomously senses its

environment and acts in it.

The word "robot" was used in a play called "Rossum's

Universal Robots" in 1921 by Czech playright

Karel Capek. It

stood for forced

labor or serf.

Robots in the Physical World

Components of a Robot

A robot … exists … senses … and acts

It has:

Sensors

Effectors/Actuators

On-board computer

(Locomotion System)

Robot with different Locomotion System

What is Robotics

Robotics is the science and technology of robots,

their design, manufacture, and application.

Robotics is at

the intersection

of multiple

disciplines

A person

working in

the field is

a roboticist. http://www.edinformatics.com/math_science/robotics/robotics1.htm

Robotics Concepts

Robotics revolves around two basic ideas:

Model: an abstract representation of the

world and the robot in it, often in

mathematical terms

Algorithm: a sequence of well-defined

steps to solve a particular problem or

accomplish a particular goal

Model/Algorithm Example

Problem: find intersection of two lines

Model:

– each line is represented by:

– linear equations y = m1 x + b1 and y = m2 x + b2

Algorithm:

– Solve m1 x + b1 = m2 x + b2

• Collect numbers on one side

• Collect x's on other side

• Factor and divide

Maze Model/Algorithm

Touch left wall and extend right arm forward

– if front clear and wall on the left, go forward

– if left wall is missing, turn left 900

– if front is blocked, turn right 900

Repeat until you reach finish

Maze Algorithm

http://www.youtube.com/watch?v=MXlVLwS01wo

History of Robots

First century A.D. and earlier

Descriptions of more than 100

machines and automata,

including a fire engine, a wind

organ, a coin-operated machine,

and a steam-powered engine, in

Pneumatica and Automata by

Heron of Alexandria

Source: http://en.wikipedia.org/wiki/Robotics

History of Robots

1206

Al-Jazari created early humanoid automata,

including a programmable “automaton

band”

1495

Leonardo da Vinci created designs

for a humanoid robot, including a

mechanical knight (wave, sit,

pretend-walk, pretend-speak)

Source: http://en.wikipedia.org/wiki/Robotics

History of Robots

1738

Jacques de Vaucanson:

Mechanical duck that was able

to eat, flap its wings, and excrete.

Designed automatic loom (see J.M. Jacquard)

1898

Nikola Tesla demonstrates first

radio-controlled boat

Source: http://en.wikipedia.org/wiki/Robotics

History of Robots

1921

First fictional automatons called "robots" appear

in the play R.U.R. Rossum's

Universal Robots by Čapek

1930s

Humanoid robot “Electro” and

“Sparko” the dog created by

Westinghouse exhibited at the

1939 and 1940 World's Fairs

Source: http://en.wikipedia.org/wiki/Robotics

History of Robots

1948

William Grey Walter: “turtles”

(Elsie and Elmer) exhibiting

biological behaviors

1956

First commercial robot Unimate from the

Unimation company founded

by George Devol and Joseph

Engelberger , worked at GM

plant in NJ

Source: http://en.wikipedia.org/wiki/Robotics

History of Robots

1970’s and beyond (more and more capable):

– palletizing robot

– programmable universal manipulation arm

– swimming and flying robots

– robotic cars

– robots in space and on other planets

– household robots

– rescue robots

– medical and surgical robots

– robots for war and destruction Source: http://en.wikipedia.org/wiki/Robotics

Real Robots

Fake Robots (all but one)

Fake Robots (all but one)

Honda's Asimo

Trends in Robotics

Logo Mindstorm NXT

NXT Intelligent Brick

– 32bit ARM7 microcontroller

– 256 KB Flash , 64 KB RAM

– 4 input ports (for sensors)

– 3 output ports (for motor)

– LCD display with 100 x 64 pixels

– Speaker for 8bit resolution mono sound

3 servo motors & integrated rotation sensors

Sensors: touch, light, sound, ultrasound

Contains about 500 parts

NXT “smart” components

NXT Rubik’s Cube Solver

http://www.youtube.com/watch?v=w3f-WyDqOUw

Segway Robot

A Segway is a transporter that

balances on two wheels

Construct a NXT robot that

simulates a Segway transporter

– Uses a PID (proportional–integral–

derivative) controller, which is a

generic control

loop feedback

mechanism

Robot Programming

Robots have on-board computer to monitor

the sensors and regulate the actuators

NXT can be programmed in:

– NXT-G

– Assembly Language

– C or C#

– Java

– MS Robotics Studio

A “Program”

Sequence of instructions to tell robot what

to do:

– Written by humans in a programming language

– Translated by a compiler to machine language

– Uploaded to robot's processor

– Executed by robot step by step

Programming Necessities

Editor to write the program

Compiler to translate the program

Uploader to transfer the program

Robot to execute the program